Defect detection system using a camera equipped uav for building facades on complex asset geometry with optimal automatic obstacle deconflicted flightpath

Abstract

In a described embodiment, a UAV and method for controlling a UAV are disclosed. The UAV is controlled along a predetermined flight path and the camera of UAV is controlled such that adjacent pictures of the captured pictures have an overlap in a predetermined range. In another embodiment, a device and method for detecting defects in image data of a UAV camera are disclosed. An image data management system for managing image data of a UAV and a client software application for performing surface scans with a UAV are also disclosed.

1 . A UAV for detecting cracks in a wall of a building, the UAV comprising:
 a propulsion means for flying the UAV;   a digital camera for capturing pictures of the wall;   a flight control module, the flight control module comprising a motor control module being operative to control the propulsion means based on image data of the digital camera, such that the UAV flies along the wall of the building along a pre-determined flight path;   an image capturing module, wherein the flight control module is operative to control the propulsion means and wherein the image capturing module is operative to control the digital camera such that adjacent pictures captured by the digital camera have an overlap in a pre-determined range;   wherein the image capturing module is operative to control the digital camera to capture pictures of the wall from pre-determined capturing positions;   wherein the motor control module is operative to slow down movement of the UAV at the pre-determined capturing positions; and   wherein the UAV further comprises an acoustic transducer operative to cooperate with the flight control module to determine a position and an orientation of the UAV.   
     
     
         2 . The UAV of  claim 1 , wherein a distance between two adjacent capturing positions is equal to an extension of a capturing area of a captured picture in a flight direction of the UAV minus a pre-determined overlap in the flight direction, and wherein the pre-determined overlap is within the pre-determined range. 
     
     
         3 . The UAV of  claim 1 , wherein the motor control module is operative to control the propulsion means such that the pre-determined flight path results in a corresponding scanning path, the scanning path comprising a meandering path, the meandering path comprising capturing segments in a first direction and connecting segments in a second direction, the capturing segments being joined by the connecting segments. 
     
     
         4 . The UAV according to  claim 1 , wherein the digital camera comprises a visible light sensor. 
     
     
         5 . The UAV according to  claim 1 , wherein the digital camera comprises a radar sensor. 
     
     
         6 . The UAV according to  claim 1 , wherein the digital camera comprises an infrared sensor. 
     
     
         7 . A method for controlling a UAV, the method comprising:
 determining a position and an orientation of the UAV according to an acoustic transducer of the UAV;   controlling a propulsion means of the UAV to move the UAV along a pre-determined flight path;   controlling a camera of the UAV to capture pictures of a wall of a building at pre-determined capturing locations such that adjacent pictures of the captured pictures have an overlap in a pre-determined range; and   controlling the propulsion means to slow down movement of the UAV at the pre-determined capturing positions.   
     
     
         8 . The method according to  claim 7 , further comprising:
 controlling the propulsion means such that a distance between two adjacent capturing positions is equal to an extension of a capturing area of a captured picture in a flight direction of the UAV minus a pre-determined overlap in the flight direction, wherein the pre-determined overlap is within the pre-determined range.   
     
     
         9 . The method according to  claim 7 , further comprising:
 controlling the propulsion means such that the pre-determined flight path results in a corresponding scanning path, the scanning path comprising a meandering path, the meandering path comprising capturing segments in a first direction and connecting segments in a second direction, the capturing segments being joined by the connecting segments.   
     
     
         10 - 22 . (canceled)